diff --git a/active_damping/index.html b/active_damping/index.html index f8d7a20..389745d 100644 --- a/active_damping/index.html +++ b/active_damping/index.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Active Damping applied on the Simscape Model @@ -269,113 +269,113 @@ for the JavaScript code in this tag.

Table of Contents

-First, in section 1, we look at the undamped system and we identify the dynamics from the actuators to the three sensor types. +First, in section 1, we look at the undamped system and we identify the dynamics from the actuators to the three sensor types.

-Then, in section 2, we study the change of dynamics for the active damping plants with respect to various experimental conditions such as the sample mass and the spindle rotation speed. +Then, in section 2, we study the change of dynamics for the active damping plants with respect to various experimental conditions such as the sample mass and the spindle rotation speed.

Then, we will apply and compare the results of three active damping techniques:

@@ -423,11 +423,11 @@ For each of the active damping technique, we:

  • Compare the sensitivity from disturbances
    • -
    -

    1 Undamped System

    +
    +

    1 Undamped System

    - +

    In this section, we identify the dynamic of the system from forces applied in the nano-hexapod legs to the various sensors included in the nano-hexapod that could be use for Active Damping, namely: @@ -443,12 +443,12 @@ After that, a tomography experiment is simulation without any active damping tec

    -
    -

    1.1 Identification of the dynamics for Active Damping

    +
    +

    1.1 Identification of the dynamics for Active Damping

    -
    -

    1.1.1 Identification

    +
    +

    1.1.1 Identification

    We initialize all the stages with the default parameters. @@ -467,11 +467,11 @@ options = linearizeOptions; options.SampleTime = 0; %% Name of the Simulink File -mdl = 'sim_nass_active_damping'; +mdl = 'nass_model'; %% Input/Output definition clear io; io_i = 1; -io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs +io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; % Relative Motion Outputs io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; % Force Sensors io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; % Absolute Velocity Outputs @@ -505,8 +505,8 @@ And we save them for further analysis.

    -
    -

    1.1.2 Obtained Plants for Active Damping

    +
    +

    1.1.2 Obtained Plants for Active Damping

    load('./active_damping/mat/undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
@@ -514,21 +514,21 @@ And we save them for further analysis.
    -
    +

    nass_active_damping_iff_plant.png

    Figure 1: G_iff: Transfer functions from forces applied in the actuators to the force sensor in each actuator (png, pdf)

    -
    +

    nass_active_damping_dvf_plant.png

    Figure 2: G_dvf: Transfer functions from forces applied in the actuators to the relative motion sensor in each actuator (png, pdf)

    -
    +

    nass_active_damping_inertial_plant.png

    Figure 3: G_ine: Transfer functions from forces applied in the actuators to the geophone located in each leg measuring the absolute velocity of the top part of the leg in the direction of the leg (png, pdf)

    @@ -537,12 +537,12 @@ And we save them for further analysis.
    -
    -

    1.2 Identification of the dynamics for High Authority Control

    +
    +

    1.2 Identification of the dynamics for High Authority Control

    -
    -

    1.2.1 Identification

    +
    +

    1.2.1 Identification

    We initialize all the stages with the default parameters. @@ -561,12 +561,12 @@ options = linearizeOptions; options.SampleTime = 0; %% Name of the Simulink File -mdl = 'sim_nass_active_damping'; +mdl = 'nass_model'; %% Input/Output definition clear io; io_i = 1; -io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs -io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1; % Metrology Outputs +io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs +io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs

    @@ -585,8 +585,8 @@ And we save them for further analysis.
    -
    -

    1.2.2 Obtained Plants

    +
    +

    1.2.2 Obtained Plants

    load('./active_damping/mat/cart_plants.mat', 'G_cart', 'masses');
@@ -594,7 +594,7 @@ And we save them for further analysis.
    -
    +

    undamped_hac_plant_translations.png

    Figure 4: Undamped Plant - Translations (png, pdf)

    @@ -602,7 +602,7 @@ And we save them for further analysis. -
    +

    undamped_hac_plant_rotations.png

    Figure 5: Undamped Plant - Rotations (png, pdf)

    @@ -611,12 +611,12 @@ And we save them for further analysis.
    -
    -

    1.3 Tomography Experiment

    +
    +

    1.3 Tomography Experiment

    -
    -

    1.3.1 Simulation

    +
    +

    1.3.1 Simulation

    We initialize elements for the tomography experiment. @@ -630,8 +630,8 @@ We initialize elements for the tomography experiment. We change the simulation stop time.

    -
    load('mat/conf_simscape.mat');
-set_param(conf_simscape, 'StopTime', '4.5');
+
    load('mat/conf_simulink.mat');
+set_param(conf_simulink, 'StopTime', '4.5');
    @@ -639,7 +639,7 @@ We change the simulation stop time. And we simulate the system.

    -
    sim('sim_nass_active_damping');
+
    sim('nass_model');
    @@ -653,8 +653,8 @@ Finally, we save the simulation results for further analysis
    -
    -

    1.3.2 Results

    +
    +

    1.3.2 Results

    We load the results of tomography experiments. @@ -667,14 +667,14 @@ t = (1/Fs)*[0 -

    +

    nass_act_damp_undamped_sim_tomo_trans.png

    Figure 6: Position Error during tomography experiment - Translations (png, pdf)

    -
    +

    nass_act_damp_undamped_sim_tomo_rot.png

    Figure 7: Position Error during tomography experiment - Rotations (png, pdf)

    @@ -684,22 +684,22 @@ t = (1/Fs)*[0
    -
    -

    2 Variability of the system dynamics for Active Damping

    +
    +

    2 Variability of the system dynamics for Active Damping

    - +

    The goal of this section is to study how the dynamics of the Active Damping plants are changing with the experimental conditions. These experimental conditions are:

      -
    • The mass of the sample (section 2.1)
      • -
    • The spindle angle with a null rotating speed (section 2.2)
      • -
    • The spindle rotation speed (section 2.3)
      • -
    • The tilt angle (section 2.4)
      • -
    • The scans of the translation stage (section 2.5)
      • +
    • The mass of the sample (section 2.1)
      • +
    • The spindle angle with a null rotating speed (section 2.2)
      • +
    • The spindle rotation speed (section 2.3)
      • +
    • The tilt angle (section 2.4)
      • +
    • The scans of the translation stage (section 2.5)

    @@ -708,11 +708,11 @@ This is done in order for the transient phase to be over.

    -
    -

    2.1 Variation of the Sample Mass

    +
    +

    2.1 Variation of the Sample Mass

    - +

    For all the identifications, the disturbances are disabled and no controller are used. @@ -733,21 +733,21 @@ We identify the dynamics for the following sample mass.

    -
    +

    act_damp_variability_iff_sample_mass.png

    Figure 8: Variability of the dynamics from actuator force to force sensor with the Sample Mass (png, pdf)

    -
    +

    act_damp_variability_dvf_sample_mass.png

    Figure 9: Variability of the dynamics from actuator force to relative motion sensor with the Sample Mass (png, pdf)

    -
    +

    act_damp_variability_ine_sample_mass.png

    Figure 10: Variability of the dynamics from actuator force to absolute velocity with the Sample Mass (png, pdf)

    @@ -755,11 +755,11 @@ We identify the dynamics for the following sample mass.
    -
    -

    2.2 Variation of the Spindle Angle

    +
    +

    2.2 Variation of the Spindle Angle

    - +

    We initialize all the stages with the default parameters. @@ -777,21 +777,21 @@ We identify the dynamics for the following Spindle angles.

    -
    +

    act_damp_variability_iff_spindle_angle.png

    Figure 11: Variability of the dynamics from the actuator force to the force sensor with the Spindle Angle (png, pdf)

    -
    +

    act_damp_variability_dvf_spindle_angle.png

    Figure 12: Variability of the dynamics from actuator force to relative motion sensor with the Spindle Angle (png, pdf)

    -
    +

    act_damp_variability_ine_spindle_angle.png

    Figure 13: Variability of the dynamics from actuator force to absolute velocity with the Spindle Angle (png, pdf)

    @@ -799,11 +799,11 @@ We identify the dynamics for the following Spindle angles.
    -
    -

    2.3 Variation of the Spindle Rotation Speed

    +
    +

    2.3 Variation of the Spindle Rotation Speed

    - +

    We initialize all the stages with the default parameters. @@ -825,46 +825,46 @@ We identify the dynamics for the following Spindle rotation periods. The identification of the dynamics is done at the same Spindle angle position.

    -
    -

    2.3.1 Dynamics of the Active Damping plants

    +
    +

    2.3.1 Dynamics of the Active Damping plants

    -
    +

    act_damp_variability_iff_spindle_speed.png

    Figure 14: Variability of the dynamics from the actuator force to the force sensor with the Spindle rotation speed (png, pdf)

    -
    +

    act_damp_variability_iff_spindle_speed_zoom.png

    Figure 15: Variability of the dynamics from the actuator force to the force sensor with the Spindle rotation speed (png, pdf)

    -
    +

    act_damp_variability_dvf_spindle_speed.png

    Figure 16: Variability of the dynamics from the actuator force to the relative motion sensor with the Spindle rotation speed (png, pdf)

    -
    +

    act_damp_variability_dvf_spindle_speed_zoom.png

    Figure 17: Variability of the dynamics from the actuator force to the relative motion sensor with the Spindle rotation speed (png, pdf)

    -
    +

    act_damp_variability_ine_spindle_speed.png

    Figure 18: Variability of the dynamics from the actuator force to the absolute velocity sensor with the Spindle rotation speed (png, pdf)

    -
    +

    act_damp_variability_ine_spindle_speed_zoom.png

    Figure 19: Variability of the dynamics from the actuator force to the absolute velocity sensor with the Spindle rotation speed (png, pdf)

    @@ -872,18 +872,18 @@ The identification of the dynamics is done at the same Spindle angle position.
    -
    -

    2.3.2 Variation of the poles and zeros with the Spindle rotation frequency

    +
    +

    2.3.2 Variation of the poles and zeros with the Spindle rotation frequency

    -
    +

    campbell_diagram_spindle_rotation.png

    Figure 20: Evolution of the pole with respect to the spindle rotation speed (png, pdf)

    -
    +

    variation_zeros_active_damping_plants.png

    Figure 21: Evolution of the zero with respect to the spindle rotation speed (png, pdf)

    @@ -892,11 +892,11 @@ The identification of the dynamics is done at the same Spindle angle position.
    -
    -

    2.4 Variation of the Tilt Angle

    +
    +

    2.4 Variation of the Tilt Angle

    - +

    We initialize all the stages with the default parameters. @@ -914,21 +914,21 @@ We identify the dynamics for the following Tilt stage angles.

    -
    +

    act_damp_variability_iff_tilt_angle.png

    Figure 22: Variability of the dynamics from the actuator force to the force sensor with the Tilt stage Angle (png, pdf)

    -
    +

    act_damp_variability_dvf_tilt_angle.png

    Figure 23: Variability of the dynamics from the actuator force to the relative motion sensor with the Tilt Angle (png, pdf)

    -
    +

    act_damp_variability_ine_tilt_angle.png

    Figure 24: Variability of the dynamics from the actuator force to the absolute velocity sensor with the Tilt Angle (png, pdf)

    @@ -936,11 +936,11 @@ We identify the dynamics for the following Tilt stage angles.
    -
    -

    2.5 Scans of the Translation Stage

    +
    +

    2.5 Scans of the Translation Stage

    - +

    We want here to verify if the dynamics used for Active damping is varying when using the translation stage for scans. @@ -954,7 +954,7 @@ We initialize all the stages with the default parameters.

    -We initialize the translation stage reference to be a sinus with an amplitude of 5mm and a period of 1s (Figure 25). +We initialize the translation stage reference to be a sinus with an amplitude of 5mm and a period of 1s (Figure 25). 

    initializeReferences('Dy_type', 'sinusoidal', ...
@@ -964,7 +964,7 @@ We initialize the translation stage reference to be a sinus with an amplitude of
    -
    +

    ty_scanning_reference_sinus.png

    Figure 25: Reference path for the translation stage (png, pdf)

    @@ -978,21 +978,21 @@ We identify the dynamics at different positions (times) when scanning with the T
    -
    +

    act_damp_variability_iff_ty_scans.png

    Figure 26: Variability of the dynamics from the actuator force to the absolute velocity sensor plant at different Ty scan positions (png, pdf)

    -
    +

    act_damp_variability_dvf_ty_scans.png

    Figure 27: Variability of the dynamics from actuator force to relative displacement sensor at different Ty scan positions (png, pdf)

    -
    +

    act_damp_variability_ine_ty_scans.png

    Figure 28: Variability of the Inertial plant at different Ty scan positions (png, pdf)

    @@ -1000,10 +1000,10 @@ We identify the dynamics at different positions (times) when scanning with the T
    -
    -

    2.6 Conclusion

    +
    +

    2.6 Conclusion

    - +
    @@ -1060,11 +1060,11 @@ Thus, the developed damping techniques should be robust to variations of the sam -
    -

    3 Integral Force Feedback

    +
    +

    3 Integral Force Feedback

    - +

    @@ -1081,23 +1081,23 @@ The IFF control is applied in a decentralized way: there is on controller for ea

    -The control architecture is represented in figure 29 where one of the 6 nano-hexapod legs is represented. +The control architecture is represented in figure 29 where one of the 6 nano-hexapod legs is represented.

    -
    +

    iff_1dof.png

    Figure 29: Integral Force Feedback applied to a 1dof system

    -
    -

    3.1 Control Design

    +
    +

    3.1 Control Design

    -
    -

    3.1.1 Plant

    +
    +

    3.1.1 Plant

    Let’s load the previously identified undamped plant: @@ -1109,11 +1109,11 @@ load('./active_damping/mat/plants_variable.mat',

    -Let’s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor (figure 30). +Let’s look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor (figure 30).

    -
    +

    iff_plant.png

    Figure 30: Transfer function from forces applied in the legs to force sensor (png, pdf)

    @@ -1121,8 +1121,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
    -
    -

    3.1.2 Control Design

    +
    +

    3.1.2 Control Design

    The controller for each pair of actuator/sensor is: @@ -1134,11 +1134,11 @@ K_iff = -5000/s

    -The corresponding loop gains are shown in figure 31. +The corresponding loop gains are shown in figure 31.

    -
    +

    iff_open_loop.png

    Figure 31: Loop Gain for the Integral Force Feedback (png, pdf)

    @@ -1146,8 +1146,8 @@ The corresponding loop gains are shown in figure 31.
    -
    -

    3.1.3 Diagonal Controller

    +
    +

    3.1.3 Diagonal Controller

    We create the diagonal controller and we add a minus sign as we have a positive @@ -1169,12 +1169,12 @@ We save the controller for further analysis.

    -
    -

    3.2 Tomography Experiment

    +
    +

    3.2 Tomography Experiment

    -
    -

    3.2.1 Simulation with IFF Controller

    +
    +

    3.2.1 Simulation with IFF Controller

    We initialize elements for the tomography experiment. @@ -1189,7 +1189,7 @@ We set the IFF controller. 

    load('./active_damping/mat/K_iff.mat', 'K_iff');
-save('./mat/controllers.mat', 'K_iff', '-append');
+initializeController('type', 'iff', 'K', K_iff);
    @@ -1197,8 +1197,8 @@ save('./mat/controllers.mat', -
    load('mat/conf_simscape.mat');
-set_param(conf_simscape, 'StopTime', '4.5');
+
    load('mat/conf_simulink.mat');
+set_param(conf_simulink, 'StopTime', '4.5');
    @@ -1206,7 +1206,7 @@ We change the simulation stop time. And we simulate the system.

    -
    sim('sim_nass_active_damping');
+
    sim('nass_model');
    @@ -1222,25 +1222,25 @@ save('./active_damping/mat/tomo_exp.mat',
    -
    -

    3.2.2 Compare with Undamped system

    +
    +

    3.2.2 Compare with Undamped system

    -
    +

    nass_act_damp_iff_sim_tomo_xy.png

    Figure 32: Position Error during tomography experiment - XY Motion (png, pdf)

    -
    +

    nass_act_damp_iff_sim_tomo_trans.png

    Figure 33: Position Error during tomography experiment - Translations (png, pdf)

    -
    +

    nass_act_damp_iff_sim_tomo_rot.png

    Figure 34: Position Error during tomography experiment - Rotations (png, pdf)

    @@ -1249,8 +1249,8 @@ save('./active_damping/mat/tomo_exp.mat',
    -
    -

    3.3 Conclusion

    +
    +

    3.3 Conclusion

    @@ -1267,11 +1267,11 @@ Integral Force Feedback using a force sensor:

    -
    -

    4 Direct Velocity Feedback

    +
    +

    4 Direct Velocity Feedback

    - +

    @@ -1285,12 +1285,12 @@ The actuator displacement can be measured with a capacitive sensor for instance.

    -
    -

    4.1 Control Design

    +
    +

    4.1 Control Design

    -
    -

    4.1.1 Plant

    +
    +

    4.1.1 Plant

    Let’s load the undamped plant: @@ -1302,11 +1302,11 @@ load('./active_damping/mat/plants_variable.mat',

    -Let’s look at the transfer function from actuator forces in the nano-hexapod to the measured displacement of the actuator for all 6 pairs of actuator/sensor (figure 35). +Let’s look at the transfer function from actuator forces in the nano-hexapod to the measured displacement of the actuator for all 6 pairs of actuator/sensor (figure 35).

    -
    +

    dvf_plant.png

    Figure 35: Transfer function from forces applied in the legs to leg displacement sensor (png, pdf)

    @@ -1314,8 +1314,8 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
    -
    -

    4.1.2 Control Design

    +
    +

    4.1.2 Control Design

    The Direct Velocity Feedback is defined below. @@ -1327,11 +1327,11 @@ A Low pass Filter is added to make the controller transfer function proper.

    -The obtained loop gains are shown in figure 36. +The obtained loop gains are shown in figure 36.

    -
    +

    dvf_open_loop.png

    Figure 36: Loop Gain for the Integral Force Feedback (png, pdf)

    @@ -1339,8 +1339,8 @@ The obtained loop gains are shown in figure 36.
    -
    -

    4.1.3 Diagonal Controller

    +
    +

    4.1.3 Diagonal Controller

    We create the diagonal controller and we add a minus sign as we have a positive feedback architecture. @@ -1361,12 +1361,12 @@ We save the controller for further analysis.

    -
    -

    4.2 Tomography Experiment

    +
    +

    4.2 Tomography Experiment

    -
    -

    4.2.1 Initialize the Simulation

    +
    +

    4.2.1 Initialize the Simulation

    We initialize elements for the tomography experiment. @@ -1381,7 +1381,7 @@ We set the DVF controller. 

    load('./active_damping/mat/K_dvf.mat', 'K_dvf');
-save('./mat/controllers.mat', 'K_dvf', '-append');
+initializeController('type', 'dvf', 'K', K_dvf);
    @@ -1389,8 +1389,8 @@ save('./mat/controllers.mat', -
    load('mat/conf_simscape.mat');
-set_param(conf_simscape, 'StopTime', '4.5');
+
    load('mat/conf_simulink.mat');
+set_param(conf_simulink, 'StopTime', '4.5');
    @@ -1398,7 +1398,7 @@ We change the simulation stop time. And we simulate the system.

    -
    sim('sim_nass_active_damping');
+
    sim('nass_model');
    @@ -1414,25 +1414,25 @@ save('./active_damping/mat/tomo_exp.mat',
    -
    -

    4.2.2 Compare with Undamped system

    +
    +

    4.2.2 Compare with Undamped system

    -
    +

    nass_act_damp_dvf_sim_tomo_xy.png

    Figure 37: Position Error during tomography experiment - XY Motion (png, pdf)

    -
    +

    nass_act_damp_dvf_sim_tomo_trans.png

    Figure 38: Position Error during tomography experiment - Translations (png, pdf)

    -
    +

    nass_act_damp_dvf_sim_tomo_rot.png

    Figure 39: Position Error during tomography experiment - Rotations (png, pdf)

    @@ -1441,8 +1441,8 @@ save('./active_damping/mat/tomo_exp.mat',
    -
    -

    4.3 Conclusion

    +
    +

    4.3 Conclusion

    @@ -1457,11 +1457,11 @@ Direct Velocity Feedback using a relative motion sensor:

    -
    -

    5 Inertial Control

    +
    +

    5 Inertial Control

    - +

    @@ -1474,12 +1474,12 @@ In Inertial Control, a feedback is applied between the measured absolute

    -
    -

    5.1 Control Design

    +
    +

    5.1 Control Design

    -
    -

    5.1.1 Plant

    +
    +

    5.1.1 Plant

    Let’s load the undamped plant: @@ -1491,11 +1491,11 @@ load('./active_damping/mat/plants_variable.mat',

    -Let’s look at the transfer function from actuator forces in the nano-hexapod to the measured velocity of the nano-hexapod platform in the direction of the corresponding actuator for all 6 pairs of actuator/sensor (figure 40). +Let’s look at the transfer function from actuator forces in the nano-hexapod to the measured velocity of the nano-hexapod platform in the direction of the corresponding actuator for all 6 pairs of actuator/sensor (figure 40).

    -
    +

    ine_plant.png

    Figure 40: Transfer function from forces applied in the legs to leg velocity sensor (png, pdf)

    @@ -1503,11 +1503,11 @@ Let’s look at the transfer function from actuator forces in the nano-hexap
    -
    -

    5.1.2 Control Design

    +
    +

    5.1.2 Control Design

    -The controller is defined below and the obtained loop gain is shown in figure 41. +The controller is defined below and the obtained loop gain is shown in figure 41.

    @@ -1516,7 +1516,7 @@ The controller is defined below and the obtained loop gain is shown in figure -
    +

    ine_open_loop_gain.png

    Figure 41: Loop Gain for Inertial Control (png, pdf)

    @@ -1524,8 +1524,8 @@ The controller is defined below and the obtained loop gain is shown in figure
    -
    -

    5.1.3 Diagonal Controller

    +
    +

    5.1.3 Diagonal Controller

    We create the diagonal controller and we add a minus sign as we have a positive feedback architecture. @@ -1546,8 +1546,8 @@ We save the controller for further analysis.

    -
    -

    5.2 Conclusion

    +
    +

    5.2 Conclusion

    @@ -1559,15 +1559,15 @@ Inertial Control should not be used.

    -
    -

    6 TODO Comparison

    +
    +

    6 TODO Comparison

    - +

    -
    -

    6.1 Load the plants

    +
    +

    6.1 Load the plants

    load('./active_damping/mat/plants.mat', 'G', 'G_iff', 'G_ine', 'G_dvf');
@@ -1576,11 +1576,11 @@ Inertial Control should not be used.
    -
    -

    6.2 TODO Sensitivity to Disturbance

    +
    +

    6.2 TODO Sensitivity to Disturbance

    -
    +

    sensitivity_comp_ground_motion_z.png

    Figure 42: Sensitivity to ground motion in the Z direction on the Z motion error (png, pdf)

    @@ -1588,21 +1588,21 @@ Inertial Control should not be used. -
    +

    sensitivity_comp_direct_forces_z.png

    Figure 43: Compliance in the Z direction: Sensitivity of direct forces applied on the sample in the Z direction on the Z motion error (png, pdf)

    -
    +

    sensitivity_comp_spindle_z.png

    Figure 44: Sensitivity to forces applied in the Z direction by the Spindle on the Z motion error (png, pdf)

    -
    +

    sensitivity_comp_ty_z.png

    Figure 45: Sensitivity to forces applied in the Z direction by the Y translation stage on the Z motion error (png, pdf)

    @@ -1610,7 +1610,7 @@ Inertial Control should not be used. -
    +

    sensitivity_comp_ty_x.png

    Figure 46: Sensitivity to forces applied in the X direction by the Y translation stage on the X motion error (png, pdf)

    @@ -1618,25 +1618,25 @@ Inertial Control should not be used.
    -
    -

    6.3 TODO Damped Plant

    +
    +

    6.3 TODO Damped Plant

    -
    +

    plant_comp_damping_z.png

    Figure 47: Plant for the \(z\) direction for different active damping technique used (png, pdf)

    -
    +

    plant_comp_damping_x.png

    Figure 48: Plant for the \(x\) direction for different active damping technique used (png, pdf)

    -
    +

    plant_comp_damping_coupling.png

    Figure 49: Comparison of one off-diagonal plant for different damping technique applied (png, pdf)

    @@ -1644,8 +1644,8 @@ Inertial Control should not be used.
    -
    -

    6.4 Tomography Experiment - Frequency Domain analysis

    +
    +

    6.4 Tomography Experiment - Frequency Domain analysis

    load('./active_damping/mat/tomo_exp.mat', 'En', 'En_iff', 'En_dvf');
@@ -1677,28 +1677,28 @@ han_win = hanning(ceil(length(En(:, 1))
 
 
-
    
+
    
 
    act_damp_tomo_exp_comp_psd_trans.png
 
    
 
    Figure 50: PSD of the translation errors in the X direction for applied Active Damping techniques (png, pdf)
    
 
    
 
 
-
    
+
    
 
    act_damp_tomo_exp_comp_psd_rot.png
 
    
 
    Figure 51: PSD of the rotation errors in the X direction for applied Active Damping techniques (png, pdf)
    
 
    
 
 
-
    
+
    
 
    act_damp_tomo_exp_comp_cps_trans.png
 
    
 
    Figure 52: CPS of the translation errors in the X direction for applied Active Damping techniques (png, pdf)
    
 
    
 
 
-
    
+
    
 
    act_damp_tomo_exp_comp_cps_rot.png
 
    
 
    Figure 53: CPS of the rotation errors in the X direction for applied Active Damping techniques (png, pdf)
    
@@ -1707,15 +1707,15 @@ han_win = hanning(ceil(length(En(:, 1))
 
    
 
-
    
-
    7 Useful Functions
    
+
    
+
    7 Useful Functions
    
 
    
 
    
-
    
-
    7.1 prepareLinearizeIdentification
    
+
    
+
    7.1 prepareLinearizeIdentification
    
 
    
 
    
-
+
 
    
 
 
    
@@ -1723,9 +1723,9 @@ This Matlab function is accessible 
-
    Function Description
    
-
    
+
    
+
    Function Description
    
+
    
 
    
 
    function [] = prepareLinearizeIdentification(args)
 
    
@@ -1733,9 +1733,9 @@ This Matlab function is accessible     
-
    Optional Parameters
    
-
    
+
    
+
    Optional Parameters
    
+
    
 
    
 
    arguments
     args.nass_actuator       char   {mustBeMember(args.nass_actuator,{'piezo', 'lorentz'})} = 'piezo'
@@ -1746,9 +1746,9 @@ This Matlab function is accessible 
-
    Initialize the Simulation
    
-
    
+
    
+
    Initialize the Simulation
    
+
    
 
    
 We initialize all the stages with the default parameters.
 
    
@@ -1783,28 +1783,37 @@ initializeDisturbances('enable', 
-
    K = tf(zeros(6));
-save('./mat/controllers.mat', 'K', '-append');
-K_ine = tf(zeros(6));
-save('./mat/controllers.mat', 'K_ine', '-append');
-K_iff = tf(zeros(6));
-save('./mat/controllers.mat', 'K_iff', '-append');
-K_dvf = tf(zeros(6));
-save('./mat/controllers.mat', 'K_dvf', '-append');
+
    initializeController('type', 'open-loop');
+
    
+
    
+
+
    
+And we put some gravity.
+
    
+
    
+
    initializeSimscapeConfiguration('gravity', true);
+
    
+
    
+
+
    
+We do not need to log any signal.
+
    
+
    
+
    initializeLoggingConfiguration('log', 'none');
 
    
 
    
 
    
 
    
 
    
 
-
    
-
    7.2 prepareTomographyExperiment
    
+
    
+
    7.2 prepareTomographyExperiment
    
 
    
 
    
-
+
 
    
 
 
    
@@ -1812,9 +1821,9 @@ This Matlab function is accessible h
 
    
 
    
 
-
    
-
    Function Description
    
-
    
+
    
+
    Function Description
    
+
    
 
    
 
    function [] = prepareTomographyExperiment(args)
 
    
@@ -1822,9 +1831,9 @@ This Matlab function is accessible     h
 
    
 
    
 
-
    
-
    Optional Parameters
    
-
    
+
    
+
    Optional Parameters
    
+
    
 
    
 
    arguments
     args.nass_actuator       char   {mustBeMember(args.nass_actuator,{'piezo', 'lorentz'})} = 'piezo'
@@ -1836,9 +1845,9 @@ This Matlab function is accessible h
 
    
 
    
 
-
    
-
    Initialize the Simulation
    
-
    
+
    
+
    Initialize the Simulation
    
+
    
 
    
 We initialize all the stages with the default parameters.
 
    
@@ -1877,17 +1886,26 @@ We set the references that corresponds to a tomography experiment.
 
    
 
 
    
-And all the controllers are set to 0.
+Open Loop.
 
    
 
    
-
    K = tf(zeros(6));
-save('./mat/controllers.mat', 'K', '-append');
-K_ine = tf(zeros(6));
-save('./mat/controllers.mat', 'K_ine', '-append');
-K_iff = tf(zeros(6));
-save('./mat/controllers.mat', 'K_iff', '-append');
-K_dvf = tf(zeros(6));
-save('./mat/controllers.mat', 'K_dvf', '-append');
+
    initializeController('type', 'open-loop');
+
    
+
    
+
+
    
+And we put some gravity.
+
    
+
    
+
    initializeSimscapeConfiguration('gravity', true);
+
    
+
    
+
+
    
+We log the signals.
+
    
+
    
+
    initializeLoggingConfiguration('log', 'all');
 
    
 
    
 
    
@@ -1897,7 +1915,7 @@ save('./mat/controllers.mat', 
 
    Author: Dehaeze Thomas
    
-
    Created: 2020-02-06 jeu. 17:06
    
+
    Created: 2020-02-18 mar. 17:49
    
 
    
 
 
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    Table 1: Conclusion on the variability of the system dynamics for active damping